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MPU6K driver: Start performance counters for system latency, as its commonly the main sensor

This commit is contained in:
Lorenz Meier 2015-01-07 17:15:19 +01:00
parent a3bce71b97
commit 2bff39d562
1 changed files with 7 additions and 0 deletions
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7
src/drivers/mpu6000/mpu6000.cpp
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@ -251,6 +251,8 @@ private:
perf_counter_t _bad_registers;
perf_counter_t _good_transfers;
perf_counter_t _reset_retries;
perf_counter_t _system_latency_perf;
perf_counter_t _controller_latency_perf;
uint8_t _register_wait;
uint64_t _reset_wait;
@ -491,6 +493,8 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev
_bad_registers(perf_alloc(PC_COUNT, "mpu6000_bad_registers")),
_good_transfers(perf_alloc(PC_COUNT, "mpu6000_good_transfers")),
_reset_retries(perf_alloc(PC_COUNT, "mpu6000_reset_retries")),
_system_latency_perf(perf_alloc_once(PC_ELAPSED, "sys_latency")),
_controller_latency_perf(perf_alloc_once(PC_ELAPSED, "ctrl_latency")),
_register_wait(0),
_reset_wait(0),
_accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
@ -1731,6 +1735,9 @@ MPU6000::measure()
_gyro->parent_poll_notify();
if (!(_pub_blocked)) {
/* log the time of this report */
perf_begin(_controller_latency_perf);
perf_begin(_system_latency_perf);
/* publish it */
orb_publish(_accel_orb_id, _accel_topic, &arb);
}